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CN-116916432-B - Time synchronization method and device for multi-sensor data, electronic equipment and storage medium

CN116916432BCN 116916432 BCN116916432 BCN 116916432BCN-116916432-B

Abstract

The application relates to a time synchronization method, a time synchronization device, an electronic device, a storage medium and a computer program product of multi-sensor data. The method comprises the steps of after receiving sensing data sent by any one of a plurality of sensors, namely, a target sensor, updating a receiving count value of the target sensor, detecting whether a preset time synchronization condition is met or not based on the receiving count value of each sensor of the plurality of sensors after updating, and carrying out time synchronization on the plurality of target sensing data according to the receiving time of the plurality of target sensing data which are not subjected to time synchronization under the condition that the preset time synchronization condition is met, so as to divide batches of the plurality of target sensing data. The method can divide batches to which a plurality of target sensing data belong, a main sensor is not required to be arranged, time synchronization errors caused by uncertain sequence of the main sensor data are avoided, and time synchronization accuracy is improved.

Inventors

  • Yan Liujiang

Assignees

  • 天津卡尔动力科技有限公司

Dates

Publication Date
20260508
Application Date
20220318

Claims (10)

  1. 1. A method of time synchronization of multi-sensor data, the method comprising: After receiving sensing data sent by a target sensor in a plurality of sensors, updating a received count value of the target sensor, wherein the target sensor is any one of the plurality of sensors; After the updating process, detecting whether a first receiving count value and a second receiving count value exist in the receiving count values of the sensors or not, wherein the difference between the first receiving count value and the second receiving count value is larger than a count threshold value; If the first receiving count value and the second receiving count value are not present, detecting whether the sum of the receiving count values of the sensors meets a preset sum value condition, and if so, determining that the preset time synchronization condition is met; And under the condition that the preset time synchronization condition is met, performing time synchronization processing on the plurality of target sensing data according to the receiving time of the plurality of target sensing data which are not subjected to time synchronization so as to divide the belonging batches of the plurality of target sensing data.
  2. 2. The method according to claim 1, wherein the updating the reception count value of the target sensor includes: adding 1 to a reception count value of the target sensor; after performing time synchronization processing on the plurality of target sensing data, the method further includes: And subtracting 1 from the receiving count value of the sensor corresponding to each target sensing data divided into the same receiving batch.
  3. 3. The method of claim 1, wherein detecting whether the sum of the received count values of the sensors satisfies a preset sum condition comprises: detecting whether the sum of the received count values of the sensors is equal to the number of the plurality of sensors.
  4. 4. A method according to any one of claims 1 to 3, wherein said time-synchronizing the plurality of target sensor data based on the reception times of the plurality of target sensor data which are not time-synchronized, comprises: performing difference processing on every two receiving times in the receiving times of the target sensing data; and dividing the target sensing data corresponding to the receiving time with the difference value smaller than the interval threshold value into the same batch.
  5. 5. A synchronization device for multi-sensor data, the device comprising: The counting updating module is used for updating the received count value of the target sensor after receiving the sensing data sent by the target sensor in the plurality of sensors, wherein the target sensor is any one of the plurality of sensors; The synchronization determining module is used for detecting whether a first receiving count value and a second receiving count value exist in the receiving count values of the sensors after updating, wherein the difference between the first receiving count value and the second receiving count value is larger than a count threshold value, determining that a preset time synchronization condition is met if the first receiving count value and the second receiving count value exist, detecting whether the sum of the receiving count values of the sensors meets the preset sum value condition if the first receiving count value and the second receiving count value do not exist, and determining that the preset time synchronization condition is met if the sum of the receiving count values of the sensors meets the preset sum value condition; And the data synchronization module is used for carrying out time synchronization processing on the plurality of target sensing data according to the receiving time of the plurality of target sensing data which are not subjected to time synchronization under the condition that the preset time synchronization condition is met so as to divide the belonging batches of the plurality of target sensing data.
  6. 6. The apparatus of claim 5, wherein the count update module is further to: adding 1 to a reception count value of the target sensor; After time synchronization processing is performed on the plurality of target sensor data, And subtracting 1 from the receiving count value of the sensor corresponding to each target sensing data divided into the same receiving batch.
  7. 7. The apparatus of claim 5, wherein the synchronization determination module is further configured to: detecting whether the sum of the received count values of the sensors is equal to the number of the plurality of sensors.
  8. 8. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
  9. 9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
  10. 10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any of claims 1 to 4.

Description

Time synchronization method and device for multi-sensor data, electronic equipment and storage medium Technical Field The present application relates to the field of data processing technology, and in particular, to a method, an apparatus, an electronic device, a storage medium, and a computer program product for time synchronization of multi-sensor data. Background In the automatic driving field, a plurality of sensors are generally mounted on a vehicle end, the sensors periodically send collected sensing data to the vehicle end, and the vehicle end senses an external environment according to the received sensing data so as to realize safe driving of the vehicle according to a sensing result. In the prior art, a main sensor is arranged in a plurality of sensors, after receiving sensing data sent by the main sensor, a vehicle end determines that the sensing data acquired by all sensors in the same period are received, so that time synchronization of the sensing data acquired by the plurality of sensors is realized, a sensing task is triggered, and sensing processing is performed after all currently received sensing data are fused, so that a sensing result is obtained. However, the above-described time synchronization method is poor in synchronization accuracy. Disclosure of Invention In view of the foregoing, it is desirable to provide a time synchronization method, apparatus, electronic device, storage medium, and computer program product for multi-sensor data. In a first aspect, an embodiment of the present disclosure provides a time synchronization method of multi-sensor data, including: after receiving the sensing data sent by the target sensor in the plurality of sensors, updating the received count value of the target sensor, wherein the target sensor is any one of the plurality of sensors; After the update processing, detecting whether a preset time synchronization condition is satisfied based on the reception count value of each of the plurality of sensors; if yes, performing time synchronization processing on the plurality of target sensing data according to the receiving time of the plurality of target sensing data which is not subjected to time synchronization, so as to divide the belonging batches of the plurality of target sensing data. In a second aspect, embodiments of the present disclosure provide a synchronization apparatus for multi-sensor data, including: the counting updating module is used for updating the received count value of the target sensor after receiving the sensing data sent by the target sensor in the plurality of sensors, wherein the target sensor is any one of the plurality of sensors; a synchronization determination module for detecting whether a preset time synchronization condition is satisfied based on a reception count value of each of the plurality of sensors after the update process; and the data synchronization module is used for carrying out time synchronization processing on the plurality of target sensing data according to the receiving time of the plurality of target sensing data which are not subjected to time synchronization under the condition that the preset time synchronization condition is met so as to divide the belonging batches of the plurality of target sensing data. In a third aspect, an embodiment of the disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method of the first aspect when the processor executes the computer program. In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method of the first aspect. In a fifth aspect, embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect described above. The above-mentioned time synchronization method, apparatus, electronic device, storage medium and computer program product of multi-sensor data, after receiving the sensor data sent by any one of the plurality of sensors, namely the target sensor, update the received count value of the target sensor, after update, detect whether the preset time synchronization condition is satisfied based on the received count value of each of the plurality of sensors, and if so, perform time synchronization processing on the plurality of target sensor data according to the receiving time of the plurality of target sensor data that is not time-synchronized, so as to divide the belonging batch of the plurality of target sensor data. The method can divide batches to which a plurality of target sensing data belong, a main sensor is not required to be arranged, time synchronization errors caused by uncertain sequence of the main sensor data are avoided, and time synchronization acc